commit 6175066e4d1294c9b2e4e49ea22b3bb7bd7ee41c
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Mon Jun 21 21:32:33 2021 -0700
committer James Kuszmaul <jabukuszmaul@gmail.com> Sun Jun 27 13:50:16 2021 -0700
tree 734cf51117459826d67457d6d35637887f4a8f38
parent eeaaed70bebee707f88cfd9159138e5041948569

Move aos/controls to frc971/control_loops

Also put what was aos/controls/control_loops.fbs in y2012/control_loops
because that's the only user.

Change-Id: I8f402b0708103077e135a41e55ef5e4f23681d87
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>

y2017/control_loops/superstructure/superstructure.cc

diff --git a/y2017/control_loops/superstructure/superstructure.cc b/y2017/control_loops/superstructure/superstructure.cc
index a0448fd..c707653 100644
--- a/y2017/control_loops/superstructure/superstructure.cc
+++ b/y2017/control_loops/superstructure/superstructure.cc
@@ -23,8 +23,8 @@
 
 Superstructure::Superstructure(::aos::EventLoop *event_loop,
                                const ::std::string &name)
-    : aos::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
-                                                                 name),
+    : frc971::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
+                                                                    name),
       vision_status_fetcher_(
           event_loop->MakeFetcher<::y2017::vision::VisionStatus>("/vision")),
       drivetrain_status_fetcher_(
@@ -48,11 +48,10 @@
       });
 }
 
-void Superstructure::RunIteration(
-    const Goal *unsafe_goal,
-    const Position *position,
-    aos::Sender<Output>::Builder *output,
-    aos::Sender<Status>::Builder *status) {
+void Superstructure::RunIteration(const Goal *unsafe_goal,
+                                  const Position *position,
+                                  aos::Sender<Output>::Builder *output,
+                                  aos::Sender<Status>::Builder *status) {
   OutputT output_struct;
   const ::aos::monotonic_clock::time_point monotonic_now =
       event_loop()->monotonic_now();
@@ -104,8 +103,8 @@
     if (distance_average_.Valid()) {
       if (unsafe_goal->use_vision_for_shots()) {
         ShotParams shot_params;
-        if (shot_interpolation_table_.GetInRange(
-                distance_average_.Get(), &shot_params)) {
+        if (shot_interpolation_table_.GetInRange(distance_average_.Get(),
+                                                 &shot_params)) {
           hood_goal_angle = shot_params.angle;
           shooter_goal.angular_velocity = shot_params.power;
           if (indexer_goal.angular_velocity != 0.0) {
@@ -115,10 +114,10 @@
           in_range = false;
         }
       }
-      AOS_LOG(
-          DEBUG, "VisionDistance %f, hood %f shooter %f, indexer %f * M_PI\n",
-          vision_distance, hood_goal_angle,
-          shooter_goal.angular_velocity, indexer_goal.angular_velocity / M_PI);
+      AOS_LOG(DEBUG,
+              "VisionDistance %f, hood %f shooter %f, indexer %f * M_PI\n",
+              vision_distance, hood_goal_angle, shooter_goal.angular_velocity,
+              indexer_goal.angular_velocity / M_PI);
     } else {
       AOS_LOG(DEBUG, "VisionNotValid %f\n", vision_distance);
       if (unsafe_goal->use_vision_for_shots()) {